ReBot: A Novel Under-Actuated Resilient Robot

被引：0
|
作者：
Liu, Junkai [1 ]
Liu, C. L. [1 ]
Zhang, Bing [2 ]
Yuan, C. W. [3 ]
Qian, Z. Q. [1 ]
Zhang, W. J. [1 ]
机构：
[1] East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China
[2] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China
[3] Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK, Canada
来源：
PROCEEDINGS OF THE 2018 25TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2018年
关键词：
Resilient robots; Under-actuated robots; Design; Control; DESIGN; RECONFIGURATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A resilient robot can recover its original function after a partial damage. In this paper, a novel under-actuated resilient robot named ReBot is presented. ReBot is an under-actuated robotic system and it consists of one type of module, which realizes the under-actuated characteristic with the whole robot. In ReBot, the module is designed as a cube structure with two rotational DOFs. The module is designed such that one can connect to another with the function of self-locking and switching between an active and a passive connection. The evolution of the configuration of an entire robotic system is performed autonomously. A preliminary experiment is carried out to show that the design requirement can be achieved.
引用
收藏
页码：237 / 242
页数：6
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